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<div class="title">ppf_registration.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Alexandru-Eugen Ichim</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *                      Willow Garage, Inc</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> */</span></div>
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<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_IMPL_PPF_REGISTRATION_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_IMPL_PPF_REGISTRATION_H_</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/ppf_registration.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/features/ppf.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/features/pfh.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a655faff5a032bb9c71fcadeb99117b4f">   53</a></span>&#160;<a class="code" href="classpcl_1_1_p_p_f_registration.html#a655faff5a032bb9c71fcadeb99117b4f">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::setInputTarget</a> (cloud);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  scene_search_tree_ = <span class="keyword">typename</span> pcl::KdTreeFLANN&lt;PointTarget&gt;::Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN&lt;PointTarget&gt;</a>);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  scene_search_tree_-&gt;setInputCloud (target_);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a6b064724e7c5ba9cbcf22e656d61f575">   63</a></span>&#160;<a class="code" href="classpcl_1_1_p_p_f_registration.html#a6b064724e7c5ba9cbcf22e656d61f575">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::computeTransformation</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> &amp;output, <span class="keyword">const</span> Eigen::Matrix4f&amp; guess)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (!search_method_)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    PCL_ERROR(<span class="stringliteral">&quot;[pcl::PPFRegistration::computeTransformation] Search method not set - skipping computeTransformation!\n&quot;</span>);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">if</span> (guess != Eigen::Matrix4f::Identity ())</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    PCL_ERROR(<span class="stringliteral">&quot;[pcl::PPFRegistration::computeTransformation] setting initial transform (guess) not implemented!\n&quot;</span>);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  PoseWithVotesList voted_poses;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  std::vector &lt;std::vector &lt;unsigned int&gt; &gt; accumulator_array;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  accumulator_array.resize (input_-&gt;points.size ());</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">size_t</span> aux_size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (floor (2 * M_PI / search_method_-&gt;getAngleDiscretizationStep ()));</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input_-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    std::vector&lt;unsigned int&gt; aux (aux_size);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    accumulator_array[i] = aux;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;Accumulator array size: %u x %u.\n&quot;</span>, accumulator_array.size (), accumulator_array.back ().size ());</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">// Consider every &lt;scene_reference_point_sampling_rate&gt;-th point as the reference point =&gt; fix s_r</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">float</span> f1, f2, f3, f4;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> scene_reference_index = 0; scene_reference_index &lt; target_-&gt;points.size (); scene_reference_index += scene_reference_point_sampling_rate_)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    Eigen::Vector3f scene_reference_point = target_-&gt;points[scene_reference_index].getVector3fMap (),</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        scene_reference_normal = target_-&gt;points[scene_reference_index].getNormalVector3fMap ();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">float</span> rotation_angle_sg = acosf (scene_reference_normal.dot (Eigen::Vector3f::UnitX ()));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">bool</span> parallel_to_x_sg = (scene_reference_normal.y() == 0.0f &amp;&amp; scene_reference_normal.z() == 0.0f);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    Eigen::Vector3f rotation_axis_sg = (parallel_to_x_sg)?(Eigen::Vector3f::UnitY ()):(scene_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    Eigen::AngleAxisf rotation_sg (rotation_angle_sg, rotation_axis_sg);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    Eigen::Affine3f transform_sg (Eigen::Translation3f ( rotation_sg * ((-1) * scene_reference_point)) * rotation_sg);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">// For every other point in the scene =&gt; now have pair (s_r, s_i) fixed</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    std::vector&lt;float&gt; distances;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    scene_search_tree_-&gt;radiusSearch (target_-&gt;points[scene_reference_index],</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                                     search_method_-&gt;getModelDiameter () /2,</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                                     indices,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                                     distances);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">//    for(size_t i = 0; i &lt; target_-&gt;points.size (); ++i)</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="comment">//size_t scene_point_index = i;</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">size_t</span> scene_point_index = indices[i];</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordflow">if</span> (scene_reference_index != scene_point_index)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">if</span> (<span class="comment">/*pcl::computePPFPairFeature*/</span>pcl::computePairFeatures (target_-&gt;points[scene_reference_index].getVector4fMap (),</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                                        target_-&gt;points[scene_reference_index].getNormalVector4fMap (),</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                                        target_-&gt;points[scene_point_index].getVector4fMap (),</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                                        target_-&gt;points[scene_point_index].getNormalVector4fMap (),</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                                        f1, f2, f3, f4))</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          std::vector&lt;std::pair&lt;size_t, size_t&gt; &gt; nearest_indices;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          search_method_-&gt;nearestNeighborSearch (f1, f2, f3, f4, nearest_indices);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="comment">// Compute alpha_s angle</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          Eigen::Vector3f scene_point = target_-&gt;points[scene_point_index].getVector3fMap ();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          Eigen::Vector3f scene_point_transformed = transform_sg * scene_point;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keywordtype">float</span> alpha_s = atan2f ( -scene_point_transformed(2), scene_point_transformed(1));</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          <span class="keywordflow">if</span> (sin (alpha_s) * scene_point_transformed(2) &lt; 0.0f)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            alpha_s *= (-1);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          alpha_s *= (-1);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <span class="comment">// Go through point pairs in the model with the same discretized feature</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <span class="keywordflow">for</span> (std::vector&lt;std::pair&lt;size_t, size_t&gt; &gt;::iterator v_it = nearest_indices.begin (); v_it != nearest_indices.end (); ++ v_it)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            <span class="keywordtype">size_t</span> model_reference_index = v_it-&gt;first,</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                model_point_index = v_it-&gt;second;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            <span class="comment">// Calculate angle alpha = alpha_m - alpha_s</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            <span class="keywordtype">float</span> alpha = search_method_-&gt;alpha_m_[model_reference_index][model_point_index] - alpha_s;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> alpha_discretized = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (alpha) + floor (M_PI / search_method_-&gt;getAngleDiscretizationStep ()));</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            accumulator_array[model_reference_index][alpha_discretized] ++;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordflow">else</span> PCL_ERROR (<span class="stringliteral">&quot;[pcl::PPFRegistration::computeTransformation] Computing pair feature vector between points %u and %u went wrong.\n&quot;</span>, scene_reference_index, scene_point_index);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordtype">size_t</span> max_votes_i = 0, max_votes_j = 0;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_votes = 0;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; accumulator_array.size (); ++i)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; accumulator_array.back ().size (); ++j)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordflow">if</span> (accumulator_array[i][j] &gt; max_votes)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          max_votes = accumulator_array[i][j];</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          max_votes_i = i;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          max_votes_j = j;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="comment">// Reset accumulator_array for the next set of iterations with a new scene reference point</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        accumulator_array[i][j] = 0;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    Eigen::Vector3f model_reference_point = input_-&gt;points[max_votes_i].getVector3fMap (),</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        model_reference_normal = input_-&gt;points[max_votes_i].getNormalVector3fMap ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordtype">float</span> rotation_angle_mg = acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ()));</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordtype">bool</span> parallel_to_x_mg = (model_reference_normal.y() == 0.0f &amp;&amp; model_reference_normal.z() == 0.0f);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    Eigen::Vector3f rotation_axis_mg = (parallel_to_x_mg)?(Eigen::Vector3f::UnitY ()):(model_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    Eigen::AngleAxisf rotation_mg (rotation_angle_mg, rotation_axis_mg);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    Eigen::Affine3f transform_mg (Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    Eigen::Affine3f max_transform = </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      transform_sg.inverse () * </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      Eigen::AngleAxisf ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max_votes_j) - floorf (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI) / search_method_-&gt;getAngleDiscretizationStep ())) * search_method_-&gt;getAngleDiscretizationStep (), Eigen::Vector3f::UnitX ()) * </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      transform_mg;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    voted_poses.push_back (<a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">PoseWithVotes</a> (max_transform, max_votes));</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;Done with the Hough Transform ...\n&quot;</span>);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="comment">// Cluster poses for filtering out outliers and obtaining more precise results</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  PoseWithVotesList results;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  clusterPoses (voted_poses, results);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a> (*input_, output, results.front ().pose);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  transformation_ = final_transformation_ = results.front ().pose.matrix ();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  converged_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a33d8e91ad51df937dac46cfa8427546c">  193</a></span>&#160;<a class="code" href="classpcl_1_1_p_p_f_registration.html#a33d8e91ad51df937dac46cfa8427546c">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::clusterPoses</a> (<span class="keyword">typename</span> pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::PoseWithVotesList &amp;poses,</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                                                              <span class="keyword">typename</span> pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::PoseWithVotesList &amp;result)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;{</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;Clustering poses ...\n&quot;</span>);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="comment">// Start off by sorting the poses by the number of votes</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  sort(poses.begin (), poses.end (), poseWithVotesCompareFunction);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  std::vector&lt;PoseWithVotesList&gt; clusters;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  std::vector&lt;std::pair&lt;size_t, unsigned int&gt; &gt; cluster_votes;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> poses_i = 0; poses_i &lt; poses.size(); ++ poses_i)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordtype">bool</span> found_cluster = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> clusters_i = 0; clusters_i &lt; clusters.size(); ++ clusters_i)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">if</span> (posesWithinErrorBounds (poses[poses_i].pose, clusters[clusters_i].front ().pose))</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        found_cluster = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        clusters[clusters_i].push_back (poses[poses_i]);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        cluster_votes[clusters_i].second += poses[poses_i].votes;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">if</span> (found_cluster == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="comment">// Create a new cluster with the current pose</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      PoseWithVotesList new_cluster;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      new_cluster.push_back (poses[poses_i]);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      clusters.push_back (new_cluster);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      cluster_votes.push_back (std::pair&lt;size_t, unsigned int&gt; (clusters.size () - 1, poses[poses_i].votes));</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="comment">// Sort clusters by total number of votes</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  std::sort (cluster_votes.begin (), cluster_votes.end (), clusterVotesCompareFunction);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="comment">// Compute pose average and put them in result vector</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment"></span>  result.clear ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keywordtype">size_t</span> max_clusters = (clusters.size () &lt; 3) ? clusters.size () : 3;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cluster_i = 0; cluster_i &lt; max_clusters; ++ cluster_i)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    PCL_INFO (<span class="stringliteral">&quot;Winning cluster has #votes: %d and #poses voted: %d.\n&quot;</span>, cluster_votes[cluster_i].second, clusters[cluster_votes[cluster_i].first].size ());</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    Eigen::Vector3f translation_average (0.0, 0.0, 0.0);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    Eigen::Vector4f rotation_average (0.0, 0.0, 0.0, 0.0);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> PoseWithVotesList::iterator v_it = clusters[cluster_votes[cluster_i].first].begin (); v_it != clusters[cluster_votes[cluster_i].first].end (); ++ v_it)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      translation_average += v_it-&gt;pose.translation ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      rotation_average += Eigen::Quaternionf (v_it-&gt;pose.rotation ()).coeffs ();</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    translation_average /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (clusters[cluster_votes[cluster_i].first].size ());</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    rotation_average /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (clusters[cluster_votes[cluster_i].first].size ());</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    Eigen::Affine3f transform_average;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    transform_average.translation ().matrix () = translation_average;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    transform_average.linear ().matrix () = Eigen::Quaternionf (rotation_average).normalized().toRotationMatrix ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    result.push_back (<a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">PoseWithVotes</a> (transform_average, cluster_votes[cluster_i].second));</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a6c6edb4b29a9cbc48a3091a9a10f1b30">  259</a></span>&#160;<a class="code" href="classpcl_1_1_p_p_f_registration.html#a6c6edb4b29a9cbc48a3091a9a10f1b30">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::posesWithinErrorBounds</a> (Eigen::Affine3f &amp;pose1,</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                                                                        Eigen::Affine3f &amp;pose2)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;{</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="keywordtype">float</span> position_diff = (pose1.translation () - pose2.translation ()).norm ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  Eigen::AngleAxisf rotation_diff_mat ((pose1.rotation ().inverse ().lazyProduct (pose2.rotation ()).eval()));</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordtype">float</span> rotation_diff_angle = fabsf (rotation_diff_mat.angle ());</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordflow">if</span> (position_diff &lt; clustering_position_diff_threshold_ &amp;&amp; rotation_diff_angle &lt; clustering_rotation_diff_threshold_)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;}</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#aed6a3ac46717db09d39711f098eae0d0">  275</a></span>&#160;<a class="code" href="classpcl_1_1_p_p_f_registration.html#aed6a3ac46717db09d39711f098eae0d0">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::poseWithVotesCompareFunction</a> (<span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::PoseWithVotes</a> &amp;a,</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                                                                              <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::PoseWithVotes</a> &amp;b )</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;{</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordflow">return</span> (a.votes &gt; b.votes);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;}</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a397336b90d998ff941cbddcf5ae55df1">  284</a></span>&#160;<a class="code" href="classpcl_1_1_p_p_f_registration.html#a397336b90d998ff941cbddcf5ae55df1">pcl::PPFRegistration&lt;PointSource, PointTarget&gt;::clusterVotesCompareFunction</a> (<span class="keyword">const</span> std::pair&lt;size_t, unsigned int&gt; &amp;a,</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                                                                             <span class="keyword">const</span> std::pair&lt;size_t, unsigned int&gt; &amp;b)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;{</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keywordflow">return</span> (a.second &gt; b.second);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;}</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="comment">//#define PCL_INSTANTIATE_PPFRegistration(PointSource,PointTarget) template class PCL_EXPORTS pcl::PPFRegistration&lt;PointSource, PointTarget&gt;;</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_REGISTRATION_IMPL_PPF_REGISTRATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN&lt; PointTarget &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a33d8e91ad51df937dac46cfa8427546c"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a33d8e91ad51df937dac46cfa8427546c">pcl::PPFRegistration::clusterPoses</a></div><div class="ttdeci">void clusterPoses(PoseWithVotesList &amp;poses, PoseWithVotesList &amp;result)</div><div class="ttdoc">Method that clusters a set of given poses by using the clustering thresholds and their corresponding ...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:193</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a397336b90d998ff941cbddcf5ae55df1"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a397336b90d998ff941cbddcf5ae55df1">pcl::PPFRegistration::clusterVotesCompareFunction</a></div><div class="ttdeci">static bool clusterVotesCompareFunction(const std::pair&lt; size_t, unsigned int &gt; &amp;a, const std::pair&lt; size_t, unsigned int &gt; &amp;b)</div><div class="ttdoc">static method used for the std::sort function to order two pairs &lt;index, votes&gt; by the number of vote...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:284</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a655faff5a032bb9c71fcadeb99117b4f"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a655faff5a032bb9c71fcadeb99117b4f">pcl::PPFRegistration::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a6b064724e7c5ba9cbcf22e656d61f575"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a6b064724e7c5ba9cbcf22e656d61f575">pcl::PPFRegistration::computeTransformation</a></div><div class="ttdeci">void computeTransformation(PointCloudSource &amp;output, const Eigen::Matrix4f &amp;guess)</div><div class="ttdoc">Method that calculates the transformation between the input_ and target_ point clouds,...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a6c6edb4b29a9cbc48a3091a9a10f1b30"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a6c6edb4b29a9cbc48a3091a9a10f1b30">pcl::PPFRegistration::posesWithinErrorBounds</a></div><div class="ttdeci">bool posesWithinErrorBounds(Eigen::Affine3f &amp;pose1, Eigen::Affine3f &amp;pose2)</div><div class="ttdoc">Method that checks whether two poses are close together - based on the clustering threshold parameter...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:259</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_aed6a3ac46717db09d39711f098eae0d0"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#aed6a3ac46717db09d39711f098eae0d0">pcl::PPFRegistration::poseWithVotesCompareFunction</a></div><div class="ttdeci">static bool poseWithVotesCompareFunction(const PoseWithVotes &amp;a, const PoseWithVotes &amp;b)</div><div class="ttdoc">static method used for the std::sort function to order two PoseWithVotes instances by their number of...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:275</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
<div class="ttc" id="astructpcl_1_1_p_p_f_registration_1_1_pose_with_votes_html"><div class="ttname"><a href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">pcl::PPFRegistration::PoseWithVotes</a></div><div class="ttdoc">Structure for storing a pose (represented as an Eigen::Affine3f) and an integer for counting votes</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:152</div></div>
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